CN103461010B - Grated seedling locating and clamping device - Google Patents
Grated seedling locating and clamping device Download PDFInfo
- Publication number
- CN103461010B CN103461010B CN201310428850.7A CN201310428850A CN103461010B CN 103461010 B CN103461010 B CN 103461010B CN 201310428850 A CN201310428850 A CN 201310428850A CN 103461010 B CN103461010 B CN 103461010B
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- Prior art keywords
- gripping
- installing plate
- rocking bar
- shaped installing
- fixed
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- 238000005520 cutting process Methods 0.000 claims abstract description 13
- 239000000758 substrate Substances 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 235000012055 fruits and vegetables Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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- Cultivation Of Plants (AREA)
Abstract
The invention relates to a grated seedling locating and clamping device and aims at achieving the purpose that the provided clamping device can automatically carry out the operation of locating seedlings in a pot tray, cutting roots and clamping, provide the grated seedlings for a rootstock platform and a scion platform and provide sequent fully-automatic grating operation with higher efficiency. The invention adopts the technical scheme that the grated seedling locating and clamping device comprises a slider rocking bar retracting mechanism and a clamping and cutting mechanism, and the slider rocking bar retracting mechanism comprises a double-rod cylinder, an L-shaped mounting plate, two locating connecting rods and two rocking bars; the clamping and cutting mechanism comprises an eight-claw cylinder, two clamping claws, an arc-shaped baffle and two knives.
Description
Technical field
The present invention relates to grafting fruits and vegetables field of mechanical technique, in especially a kind of grafting fruits and vegetables machine for the grafting locating and clamping apparatus of individual plant seedling location, cut-out, gripping.
Background technology
With improving constantly and the quick rise of the demand of vegetable grafting of Automation of Agricultural Production technology, for this field of machine grafting, progressively seedling on manually seedling steering mechanical.Conventionally can there are two problems in the mechanical paw of upper seedling actuator: first in the time that seedling operation is got in enforcement, when seedlings clamping, can be subject to the impact of seedling growth randomness, seedling does not have enough perpendicularity, it is inaccurate that gripper of manipulator has gripping in gripping process, affects subsequent step; The second, clamping hand is excessive to the clamping of seedling, easily causes damage seedling.Affect the survival rate of grafting work.
Summary of the invention
Technical problem to be solved by this invention is the deficiency that overcomes above-mentioned background technology, a kind of grafting locating and clamping apparatus that is applicable to grafting fruits and vegetables machine is provided, can be automatically to the seedling in the dish of cave position, be completely cured, gripping operation, and grafting is offered to stock platform and fringe wood platform, for follow-up full automatic grafting operation provides more high efficiency.
The technical solution used in the present invention is as follows:
Grafting locating and clamping apparatus, is characterized in that: described device comprises the slide block rocking bar gathering mechanism and the gripping shut-off mechanism that are arranged on substrate bottom surface;
Described slide block rocking bar gathering mechanism comprises a pair of bar cylinder, a L shaped installing plate, two positioning linkage rods and two rocking bars; Two bar cylinders are fixed on the bottom surface of described substrate, and vertical section of L shaped installing plate is fixed on the push rod front end of two bar cylinders, and the horizontal segment of L shaped installing plate protracts in substrate lower horizontal; The left and right sides of horizontal segment front end has been arranged symmetrically with rocker assembly, each rocker assembly be hinged by end one described in positioning linkage rod and a rocking bar form, the other end of positioning linkage rod and the horizontal segment of L shaped installing plate are hinged, and the other end and the substrate of rocking bar are hinged;
Described gripping shut-off mechanism comprises one or eight pawl cylinders, two gripping paws, a curved baffle and two cutting knifes; Eight pawl cylinders are fixed on the bottom of L shaped installing plate, two gripping paws are separately fixed in two jig arm of eight pawl cylinders, each gripping paw is respectively equipped with upper and lower two interlock fingers, two cutting knifes are fixed on two interlock fingers of two gripping paw downsides in opposite directions and over the ground, it is upper that one end of curved baffle is fixed on one of them interlock finger of downside, and other end level is stretched out and across another interlock finger of crossing downside.
Described positioning linkage rod is made up of upper, middle and lower segment, the horizontal segment of the epimere articulated described rocking bar of difference and L shaped installing plate, and stage casing is as the jointed shaft of epimere and described horizontal segment stretching, extension downwards, and hypomere stretches out towards the grafting in eight pawl cylinder fronts.
The front end of described substrate is shaped with the opening for rocker assembly activity.
Operation principle of the present invention is: when work, two bar cylinders stretch out, the running of band movable slider rocking bar gathering mechanism, and two location even form an envelope track, and the random seedling of growth is enclosed in FX by two positioning linkage rods and curved baffle acting in conjunction; Eight pawl cylinder closures afterwards, the running of gripping shut-off mechanism, cutting knife cuts off seedling, the vertical direction motion of the seedling of cutting knife constraint simultaneously, the motion of gripping paw bound level direction, constrains in seedling in gripping paw by the mode of not pushing seedling.
The beneficial effect that the present invention has is: this device can be arranged on automatically upper seedling device, and to effective automatic clamping that carries out of seedling in the dish of cave, success rate is high, and is difficult for hindering seedling, for the design of high efficient full automatic grafting machine is laid a good foundation.
Brief description of the drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view of L shaped installing plate in the present invention.
Fig. 3 is the perspective view of positioning linkage rod in the present invention.
Fig. 4 is the perspective view of curved baffle in the present invention.
Fig. 5 is the perspective view of gripping paw in the present invention.
Fig. 6-Figure 10 is working state schematic representation of the present invention.
Figure 11 is the plan structure schematic diagram of gripping shut-off mechanism.
Figure 12 is the perspective view of gripping shut-off mechanism.
Figure 13 is gripping shut-off mechanism working state schematic representation.
Figure 14 is slide block rocking bar gathering mechanism principle of the present invention and movement locus schematic diagram.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1, grafting locating and clamping apparatus, described device comprises the slide block rocking bar gathering mechanism and the gripping shut-off mechanism that are arranged on substrate 1 bottom surface.
Described slide block rocking bar gathering mechanism comprises a pair of bar cylinder 2, a L shaped installing plate 6, two positioning linkage rods 7 and two rocking bars 8.Two bar cylinders are fixed on the bottom surface of described substrate, and its push rod stretches out towards the front end level of substrate.As shown in Figure 2, L shaped installing plate is made up of orthogonal vertical section of 6-1 and horizontal segment 6-2, and vertically section is fixed on the push rod front end of two bar cylinders, horizontal segment protract in substrate lower horizontal (being arranged in parallel with substrate); Wherein, the left and right sides of horizontal segment front end is respectively equipped with a rocker assembly, and the front end of substrate is shaped with the opening 1-1 for two rocker assembly activities; Two rocker assemblies are arranged symmetrically with, each rocker assembly be hinged by end one described in described in positioning linkage rod 7 and a rocking bar 8 form, the other end of positioning linkage rod and the horizontal segment of L shaped installing plate are hinged, the other end and the substrate of rocking bar are hinged.
As shown in Figure 3; described positioning linkage rod is made up of upper, middle and lower segment; the horizontal segment 6-2 of the epimere 7-1 articulated described rocking bar of difference and L shaped installing plate; stage casing 7-2 is as the jointed shaft of epimere and described horizontal segment stretching, extension downwards; hypomere 7-3 stretches out towards grafting 9 levels in eight pawl cylinder fronts; in the time that L shaped installing plate promotes the epimere motion of two positioning linkage rods, the hypomere of two positioning linkage rods can intersect and closes up or open.
As shown in Figure 11-Figure 13, described gripping shut-off mechanism comprises that one or eight pawl cylinder 3(are Y shape cylinder, splayed cylinder, and outsourcing obtains), two gripping paws 4, a curved baffle 5 and two cutting knifes 10.Eight pawl cylinders are fixed on the bottom of L shaped installing plate, two gripping paws are separately fixed in two jig arm of eight pawl cylinders, each gripping paw is respectively equipped with upper and lower two mutual corresponding interlock fingers (upside interlock finger 4-1, downside interlock finger 4-2), two cutting knifes are fixed on the front end (being positioned at interlock finger inner side) of two interlock fingers of two gripping paw downsides in opposite directions and over the ground, it is upper that one end of curved baffle is fixed on one of them interlock finger of downside, and other end level is stretched out and across another interlock finger of crossing downside.
As shown in Fig. 6-Figure 10, when work, two bar cylinders 2 stretch out, drive L shaped installing plate 6 to move forward, L shaped installing plate drives positioning linkage rod 7 and rocking bar 8 to move, L shaped installing plate drives eight pawl cylinders 3 to travel forward simultaneously, positioning linkage rod motion forms an envelope track (in Figure 14 shown in dotted line), with curved baffle 5 actings in conjunction that are fixed on gripping paw 4 leading portions, seedling is constrained in the scope of appointment, and then eight pawl cylinder closures, drive gripping paw closure, the cutting knife engagement of gripping paw front end, cuts off seedling.In above process, the gap that retaining paw forms is greater than Miao Jing, can not have squeezing action to seedling, and cutting knife retrains the movement of its vertical direction simultaneously.Two bar cylinders are regained, and complete and get seedling action.
Claims (2)
1. grafting locating and clamping apparatus, is characterized in that: described device comprises the slide block rocking bar gathering mechanism and the gripping shut-off mechanism that are arranged on substrate (1) bottom surface;
Described slide block rocking bar gathering mechanism comprises a pair of bar cylinder (2), a L shaped installing plate (6), two positioning linkage rods (7) and two rocking bars (8); Two bar cylinders are fixed on the bottom surface of described substrate, and vertical section (6-1) of L shaped installing plate is fixed on the push rod front end of two bar cylinders, and the horizontal segment (6-2) of L shaped installing plate protracts in substrate lower horizontal; The left and right sides of horizontal segment front end has been arranged symmetrically with rocker assembly, each rocker assembly be hinged by end one described in positioning linkage rod (7) and a rocking bar (8) form, the other end of positioning linkage rod and the horizontal segment of L shaped installing plate are hinged, and the other end and the substrate of rocking bar are hinged;
Described gripping shut-off mechanism comprises one or eight pawl cylinders (3), two gripping paws (4), a curved baffle (5) and two cutting knifes (10); Eight pawl cylinders are fixed on the bottom of L shaped installing plate, two gripping paws are separately fixed in two jig arm of eight pawl cylinders, each gripping paw is respectively equipped with upper and lower two interlock fingers (4-1,4-2), two cutting knifes are fixed on two interlock fingers of two gripping paw downsides in opposite directions and over the ground, it is upper that one end of curved baffle is fixed on one of them interlock finger of downside, and other end level is stretched out and across another interlock finger of crossing downside;
Described positioning linkage rod is made up of upper, middle and lower segment, the horizontal segment of epimere (7-1) the articulated described rocking bar of difference and L shaped installing plate, stage casing (7-2) is as the jointed shaft of epimere and described horizontal segment stretching, extension downwards, and hypomere (7-3) stretches out towards the grafting (9) in eight pawl cylinder fronts.
2. grafting locating and clamping apparatus according to claim 1, is characterized in that: the front end of described substrate is shaped with for the opening of rocker assembly activity (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310428850.7A CN103461010B (en) | 2013-09-18 | 2013-09-18 | Grated seedling locating and clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310428850.7A CN103461010B (en) | 2013-09-18 | 2013-09-18 | Grated seedling locating and clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103461010A CN103461010A (en) | 2013-12-25 |
| CN103461010B true CN103461010B (en) | 2014-11-12 |
Family
ID=49786256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310428850.7A Expired - Fee Related CN103461010B (en) | 2013-09-18 | 2013-09-18 | Grated seedling locating and clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103461010B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106900356B (en) * | 2017-03-27 | 2022-08-02 | 辽宁科技大学 | Flexible positioning and clamping mechanism for grafted seedlings |
| EP3804501A4 (en) * | 2018-06-06 | 2022-03-02 | GRA&GREEN Inc. | Member for grafting use, member set for grafting use, fixing tool for grafting use, and method for producing graft seedling |
| CN109041863A (en) * | 2018-06-20 | 2018-12-21 | 潍坊学院 | Vegetable grafted seedling positioning and clamping mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1541512A (en) * | 2003-05-01 | 2004-11-03 | 中国农业大学 | Automatic checking and positioning device of nutrition pot sprout |
| CN102835257A (en) * | 2012-08-14 | 2012-12-26 | 北京农业智能装备技术研究中心 | Seedling production device |
| CN102837319A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Vibration-type seedling feeding actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN202781177U (en) * | 2012-09-05 | 2013-03-13 | 浙江理工大学 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
| CN103286780A (en) * | 2013-05-20 | 2013-09-11 | 上海交通大学 | Grafted seedling hole disk planting manipulator tail end actuator and grafted seedling hole disk planting mechanism |
| CN203467267U (en) * | 2013-09-18 | 2014-03-12 | 浙江理工大学 | Locating and clamping device of grafted seedlings |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08298864A (en) * | 1995-05-01 | 1996-11-19 | Mitsubishi Agricult Mach Co Ltd | Apparatus for transporting scion part for grafting |
| JPH09308374A (en) * | 1996-05-20 | 1997-12-02 | Iseki & Co Ltd | Grafting apparatus |
-
2013
- 2013-09-18 CN CN201310428850.7A patent/CN103461010B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1541512A (en) * | 2003-05-01 | 2004-11-03 | 中国农业大学 | Automatic checking and positioning device of nutrition pot sprout |
| CN102835257A (en) * | 2012-08-14 | 2012-12-26 | 北京农业智能装备技术研究中心 | Seedling production device |
| CN102837319A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Vibration-type seedling feeding actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN202781177U (en) * | 2012-09-05 | 2013-03-13 | 浙江理工大学 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
| CN103286780A (en) * | 2013-05-20 | 2013-09-11 | 上海交通大学 | Grafted seedling hole disk planting manipulator tail end actuator and grafted seedling hole disk planting mechanism |
| CN203467267U (en) * | 2013-09-18 | 2014-03-12 | 浙江理工大学 | Locating and clamping device of grafted seedlings |
Non-Patent Citations (2)
| Title |
|---|
| JP特开平8-298864A 1996.11.19 * |
| JP特开平9-308374A 1997.12.02 * |
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| CN103461010A (en) | 2013-12-25 |
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Effective date of registration: 20171127 Address after: Xiangyu Street Airport Development Zone Road 401120 Chongqing city Yubei District Shuangfeng Bridge No. 15 Building 2 Patentee after: CHONGQING SINYM TECHNOLOGY CO., LTD. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park Poplar Street No. 2 Street No. 5 Patentee before: Zhejiang Sci-Tech University |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20190918 |
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| CF01 | Termination of patent right due to non-payment of annual fee |